An iterative learning high-precision contour tracking control method for networked motion control systems based on ESO

Abstract

The invention provides an ESO-based iterative learning high-precision contour tracking control method of a networked motion control system. The method comprises the steps of (1) establishing an expanded third-order discrete system model and estimating system interference by using an extended state observer (ESO), (2) adopting a feedback-assisted open-loop and closed-loop iterative learning controlstrategy for networked single-axis tracking control and combining with the ESO to eliminate the influence of non-periodic interference to achieve high-precision networked single-axis tracking control, and (3) designing a PD-type cross-coupling controller for contour error control based on the single-axis tracking control and adopting an LC+ESO+CCC strategy to realize high-precision networked contour tracking control. According to the method, the iterative convergence speed is effectively improved, and the high-precision single-axis trajectory tracking control and the high-precision contour tracking control of the networked motion control system are achieved.

Description

technical field [0001] The invention relates to a networked motion control system contour tracking control method, in particular to an ESO-based networked motion control system iterative learning high-precision contour tracking control method, which belongs to the networked motion control field. Background technique [0002] In the application of CNC machine tools and industrial manipulators, high-precision contour control is an important performance index of motion control systems, and has always been a hot issue in motion control research. Cross-Coupled Control (CCC) is one of the most effective methods in contour tracking control. On the basis of single-axis tracking control, the mutual influence of its motion is considered, and the open-loop contour control system is changed into closed-loop contour control. Therefore, the contour error is directly compensated, and the contour tracking control accuracy of the multi-axis system is effectively improved. High-precision sin...

AI Technical Summary

Problems solved by technology

At present, the commonly used time delay compensation methods are: switching system method, robust control method, Smith predictor method, model predictive control method, etc. All of the above methods require to obtain part or all of the accurate model information of the system, which are often used in actual industrial applications. more difficult

In recent years, some scholars have proposed a communication interference observer method not based on the delay model, which models the network-induced delay as interference for effective observation and compensation, but this research is mainly for fixed delay scenarios

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